ROS2 Control
Classes | Enumerations | Functions | Variables
hardware_interface Namespace Reference

Classes

class  Actuator
 
class  ActuatorInterface
 Virtual Class to implement when integrating a 1 DoF actuator into ros2_control. More...
 
struct  ControllerInfo
 Controller Information. More...
 
class  ReadOnlyHandle
 A handle used to get and set a value on a given interface. More...
 
class  ReadWriteHandle
 
class  StateInterface
 
class  CommandInterface
 
struct  InterfaceInfo
 
struct  ComponentInfo
 
struct  JointInfo
 Contains semantic info about a given joint loaded from XML (URDF) More...
 
struct  ActuatorInfo
 Contains semantic info about a given actuator loaded from XML (URDF) More...
 
struct  TransmissionInfo
 Contains semantic info about a given transmission loaded from XML (URDF) More...
 
struct  HardwareInfo
 This structure stores information about hardware defined in a robot's URDF. More...
 
class  LoanedCommandInterface
 
class  LoanedStateInterface
 
class  ResourceManager
 
class  Sensor
 
class  SensorInterface
 Virtual Class to implement when integrating a stand-alone sensor into ros2_control. More...
 
class  System
 
class  SystemInterface
 Virtual Class to implement when integrating a complex system into ros2_control. More...
 
class  ResourceStorage
 

Enumerations

enum class  return_type : std::uint8_t { OK = 0 , ERROR = 1 }
 

Functions

HARDWARE_INTERFACE_PUBLIC std::vector< HardwareInfoparse_control_resources_from_urdf (const std::string &urdf)
 Search XML snippet from URDF for information about a control component. More...
 
std::string interfaces_to_string (const std::vector< std::string > &start_interfaces, const std::vector< std::string > &stop_interfaces)
 

Variables

constexpr char HW_IF_POSITION [] = "position"
 Constant defining position interface.
 
constexpr char HW_IF_VELOCITY [] = "velocity"
 Constant defining velocity interface.
 
constexpr char HW_IF_ACCELERATION [] = "acceleration"
 Constant defining acceleration interface.
 
constexpr char HW_IF_EFFORT [] = "effort"
 Constant defining effort interface.
 

Detailed Description

Author
: Denis Stogl

Function Documentation

◆ parse_control_resources_from_urdf()

std::vector< HardwareInfo > hardware_interface::parse_control_resources_from_urdf ( const std::string &  urdf)

Search XML snippet from URDF for information about a control component.

Parameters
[in]urdfstring with robot's URDF
Returns
vector filled with information about robot's control resources
Exceptions
std::runtime_errorif a robot attribute or tag is not found